CN107745743A - A kind of Electric Power Steering Control System based on functional safety - Google Patents
A kind of Electric Power Steering Control System based on functional safety Download PDFInfo
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- CN107745743A CN107745743A CN201710913765.8A CN201710913765A CN107745743A CN 107745743 A CN107745743 A CN 107745743A CN 201710913765 A CN201710913765 A CN 201710913765A CN 107745743 A CN107745743 A CN 107745743A
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- predrive
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- chip microcomputer
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Steering Mechanism (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a kind of Electric Power Steering Control System based on functional safety, including power supply, double-core single-chip microcomputer, system base chip, predrive chip, power bridge, motor relay and the motor being connected with motor relay；Double-core single-chip microcomputer gathers hand-wheel torque and angular signal and obtains GES by CAN, according to set Power assisted control strategy, calculate power-assisted demand, pass to motor control algorithms, motor control algorithms generate gate drive signal, control power bridge to be opened and closed by predrive chip, produce three-phase current, motor produces assist torque.The present invention is safe, and improve prior art and only be difficult to detect whole failures by the verification that communicate of Universal Serial Bus interface by monitoring MCU and main MCU timings, diagnosis coverage rate is low and use two single-chip microcomputers make it that system cost is higher, the problem of size and all bigger power consumption.
Description
Technical field
The present invention relates to a kind of Electric Power Steering Control System based on functional safety.
Background technology
At present, power steering system mainly has three kinds of forms：Hydraulic power-assist steering system (Hydraulic Power
Steering, HPS), Electro-Hydraulic Power Steering System (Electro-Hydraulic Power Steering, EHPS) and electricity
Dynamic servo steering system (Electric Power Steering, EPS).
HPS can provide larger power-assisted, therefore be widely used on medium-and-large-sized automobile, but its steering
Characteristic is single, once design completion cannot be adjusted and control again, it is difficult between coordinating to turn to the light road feel with holding
Contradiction, in addition it the shortcomings of permeability, fuel economy difference be present.EHPS is on the basis of HPS, adds electronics control system,
The hydraulic power steering of speed induction type assist characteristic is realized, but it still has permeability, system complex, cost height, fuel oil
The shortcomings of less economical.EPS has abandoned traditional hydraulic mechanism completely by the use of motor as power-assisted source, avoid HPS and
EHPS many shortcomings, energy consumption is low, simple in construction, low temperature performance well, low in the pollution of the environment, and according to speed and can use work
Condition automatically adjusts power-assisted size, and relatively good solves the problems, such as different road feel demands under driver's difference speed.
But the raising of EPS usage quantity is accompanied by, the call back number occurred because of EPS failure is also increasing
Add, masses only between 2015, Toyota, it is general, modern, etc. auto vendor all there is EPS failure recall event, by
The vehicle of influence reaches more than 200 ten thousand, causes huge manpower, financial losses.EPS is used as power-assisted source, lifting by the use of motor
The complexity of electric system.But security risk is with electric system as caused by systematicness and random hardware failure
Complexity is improved and increased.And ISO26262 road vehicles Functional Safety Standard is appropriate and feasibly defines electric, Department of Electronics
The safety in utilization of system, specific electric device, electronic equipment, programmable electronic device etc. are primarily located within automobile industry specially
Door is used for the part of automotive field, there is provided a whole set of method and flow, to ensure that automotive electronics electrical system meets that function is pacified
It is complete to require.Prior art：
Traditional EPS generally include for transmit automobile live signal sensor, for gathering the sensor
Signal and current of electric feedback signal and make a response electric booster steering controller MCU, for master controller power supply electricity
A few part compositions such as source chip, assist motor drive circuit, assist motor.But this is simultaneously unsatisfactory for ISO26262 road vehicle functions
The demand for more high safety function proposed in safety standard, EPS adjust help in real time according to the driving cycle of vehicle
Feel when power size, direction and pilot control steering wheel, intervenes the go to action of driver, therefore for its peace
Full property just proposes more requirements.Existing EPS security architectures are mostly to use isomery dual processor, including one performs control
The safe single-chip microcomputer (safe MCU) of the host scm (main MCU) of program and an execution safety applications.
Existing vehicle EPS can be according to driver intention, there is provided turns to and supports, has active return function, and energy
Enough steering angle is provided by CAN network to in-car other systems.Improvement for electric boosting steering system function is more
Tend to improvement to motor performance and in the optimization of assist characteristic, ignoring the reliability of EPS in itself, EPS
According to the driving cycle of vehicle, feel when power-assisted size, direction and pilot control steering wheel is adjusted in real time, to driver
Go to action intervened.But EPS, once failing, whole servo steering system will occur power-assisted and be anticipated with driver
It is willing to not be inconsistent the phenomenon even to the power-assisted that makes mistake, the person of the driving safety for directly threatening vehicle and driver and occupant is pacified
Entirely.Therefore, that exhausts one's ability improves the security strategy of controller, and improving the safe class of controller becomes controller soft hardware
Most important thing during design.
Prior art mainly has the disadvantages that：
1) in product development, need two sets different developing instruments for two kinds of single-chip microcomputers, programming and debugging enironment compared with
Complexity, two single-chip microcomputers are used make it that system cost is higher in addition, size and power consumption are all bigger.
2) in electric boosting steering system, during realizing power-assisted, Hui Zheng, damping control by direct current generator, need
Frequent starting, braking, rotating forward, reversion are wanted, for a long time using easily occurring multiple systems failure later, only by monitoring MCU and master
MCU timings are difficult to detect whole failures by the verification that communicate of Universal Serial Bus interface, and diagnosis coverage rate is low.
The content of the invention
The present invention is in order to overcome EPS because of the systematic failure that brings electric system complexity improves and random
Security risk caused by hardware failure, and failure；Improve prior art only by monitoring MCU with main MCU timings by general
Serial data bus interface carries out communication verification and is difficult to detect whole failures, and diagnosis coverage rate is low and uses two monolithics
Machine make it that system cost is higher, the problem of size and all bigger power consumption.
The purpose of the present invention is achieved through the following technical solutions：A kind of electric power steering based on functional safety
Control system, including power supply, double-core single-chip microcomputer, system base chip, predrive chip, power bridge, motor relay and with electricity
The connected motor of machine relay；
Double-core single-chip microcomputer gathers hand-wheel torque and angular signal and obtains GES by CAN, according to set
Power assisted control strategy, calculate power-assisted demand, pass to motor control algorithms, motor control algorithms generation gate drive signal,
Control power bridge to be opened and closed by predrive chip, produce three-phase current, motor produces assist torque.
It is preferred that phase current signal, motor rotor position signal back production to single-chip microcomputer, do current tracking control,
To produce preferable assist torque.
It is preferred that described system base chip is system base chip TPS65381, described predrive core
Piece is predrive chip DRV3201, and described double-core single-chip microcomputer is MCU TMS570LS3137.
It is preferred that power supply is battery, battery is connected with the voltage changer inside system base chip, leads to
Overvoltage converter is powered to system base chip, predrive chip and power bridge.
It is preferred that system base chip is powered to double-core single-chip microcomputer, external sensor and CAN transceiver；System
The system built-in system monitoring mechanism module of base chip can be monitored to the voltage levels, clock, temperature of output, over-pressed or deficient
Pressure, clock are abnormal, the too high reset/enabled output generator that can trigger built in system base chip of temperature；System-based core
Question and answer house dog built in piece carries out question and answer communication by SPI and double-core single-chip microcomputer, when double-core single-chip microcomputer occurs to run the event such as winged, deadlock
When barrier " can not feed dog ", system base chip will trigger reset/enabled output generator；The reset of system base chip/enabled
Output generator, which will reset double-core single-chip microcomputer and export enable signal, closes predrive chip and motor relay.
It is preferred that predrive chip carries system monitoring mechanism module, can be to clock, supply voltage, temperature
It is monitored, over-pressed or under-voltage, clock is extremely, temperature is too high can trigger predrive error signal generator；Three-phase bridge drives
Module is under-voltage or the failures such as short circuit occur for over-pressed, gate drive signal dead time exception, drive axle bridge arm, can also trigger predrive
Error signal generator；Error signal is issued pre- drive error signal monitoring modular, double-core list by predrive error signal generator
After piece machine receives this error signal, pre- drive and motor relay will be closed by enabled output channel, and ensure that system will be in peace
Total state.
It is preferred that the CPUa and CPUb in double-core single-chip microcomputer are believed hand-wheel torque by Lockstep technologies
Number, the GES that passes over of steering wheel angle signal, rotor signal, phase current signal CAN transceiver etc. carry out phase
With processing, and contrast conting result is transmitted to MCU error signal generators, while MCU error signal generators also reception system
Clock, voltage, the storage failure of monitoring mechanism monitoring；MCU error signal detection modules in system base chip monitor
After the error signal that MCU error signal generators are sent, triggering resets/enabled output generator, and reset MCU simultaneously exports enabled letter
Number close pre- drive and motor relay.
It is preferred that double-core single-chip microcomputer is by controlling, output back production module enables to predrive and motor relay makes
Back production can be carried out, and output generator and the enabled output channels of MCU and the enabled letter sent are resetted/enable with system base chip
Number contrasted, increase the diagnosis covering to the two enable signals, reduce System failure probability.
It is preferred that double-core single-chip microcomputer can be carried out by SPI communication to system base chip and predrive chip
Configuration, and obtain diagnostic message.
The beneficial effects of the invention are as follows：The fail safe measure that the present invention uses is to close motor power-assisted, closes power-assisted
Mode is to close predrive chip to enable and close motor relay.Motor relay is enabled close after, motor and three-phase bridge or
The connection of power bridge will be cut off, and motor is run out of steam, and EPS power-assisteds are closed, safe.The present invention improves prior art and only leaned on
Monitoring MCU and main MCU timings is difficult to detect whole failures by the verification that communicate of Universal Serial Bus interface, examines
Disconnected coverage rate is low and uses two single-chip microcomputers make it that system cost is higher, the problem of size and all bigger power consumption.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention.
Embodiment
Technical scheme is described in further detail below in conjunction with the accompanying drawings, but protection scope of the present invention is not limited to
It is as described below.
As shown in figure 1, a kind of Electric Power Steering Control System based on functional safety, including power supply, double-core single-chip microcomputer,
System base chip, predrive chip, power bridge, motor relay and the motor being connected with motor relay；
Double-core single-chip microcomputer gathers hand-wheel torque and angular signal and obtains GES 19 by CAN, according to both
Fixed Power assisted control strategy, calculates power-assisted demand, passes to motor control algorithms, motor control algorithms generation door driving letter
Number, control power bridge MOSFET (three-phase bridge in such as Fig. 1) to be opened and closed by predrive chip, produce three-phase current, driving electricity
Machine produces assist torque.
Voltage changer 2, system monitoring mechanism module 6, reset/enabled output generator are provided with system base chip
7th, question and answer house dog 8, MCU error signals detection module 22, diagnosis and configuration information module and SPI, diagnosis and configuration information mould
Block is connected with SPI, and the annexation of each several part is as shown in Figure 1；
Double-core single-chip microcomputer includes enabled output 13, enabled output 14, control output back production module 23, PWM, MCU reset mould
Block, it is pre- drive error signal detection module 12, MCU error signal generators 20, system monitoring mechanism module 21, CPUa, CPUb and
SPI, the annexation of each several part are as shown in Figure 1；
Predrive chip includes enable signal EN ends, voltage changer 3, three-phase bridge drive module 11, drives error signal in advance
Generator 10, system monitoring mechanism module 9, diagnosis and configuration information module and SPI, the annexation of each several part are as shown in Figure 1.
Battery 1 by voltage change device 2 and 3 to system base chip TPS65381, predrive chip DRV3201 and
Three-phase bridge is powered.
Base chip TPS65381 powers to MCU TMS570LS3137 and external sensor 4 and CAN transceiver 5.Its
Built-in system monitoring mechanism 6 can be monitored to the voltage levels, clock, temperature of output, over-pressed or under-voltage, clock exception,
Temperature is too high to trigger reset/enabled output generator 7；Question and answer house dog 8 built in system base chip by SPI with
MCUTMS570LS3137 carries out question and answer communication, when the failures such as the winged, deadlock of race, which occur, for MCUTMS570LS3137 " to feed dog ",
System base chip TPS65381 will trigger reset/enabled output generator 7.The reset of system base chip/enabled output hair
Raw device, which will reset MCU and export enable signal, closes pre- drive and motor relay.
Predrive chip DRV3201 carries system monitoring mechanism 9, and clock, supply voltage, temperature can be monitored,
Over-pressed or under-voltage, clock is extremely, temperature is too high can trigger predrive error signal generator 10；Three-phase bridge drive module 11 is owed
The failure such as pressure or overvoltage, abnormal, the drive axle bridge arm generation short circuit of gate drive signal dead time, can also trigger predrive mistake letter
Number generator 10.Error signal is issued pre- drive error signal monitoring modular 12 by predrive error signal generator 10,
After MCUTMS570LS3137 receives this error signal, pre- drive and motor relay will be closed by enabled output channel 13 and 14
Device, ensure that system is in a safe condition.
CPUa and CPUb in MCUTMS570LS3137 are by Lockstep technologies to hand-wheel torque signal 15, steering
GES 19 that disk angular signal 16, rotor signal 17, phase current signal 18, CAN transceiver 5 pass over etc. is carried out
Identical calculations processing such as identical logical operation, and by contrast conting result when both results are consistent, will not trigger signal
Generator；When result is inconsistent, triggering error signal generator is transmitted to MCU error signal generators 20, while MCU mistakes are believed
Number generator 20 clock that also reception system monitoring mechanism 21 monitors, voltage, storage failure.System base chip TPS65381
After interior MCU error signals detection module 22 monitors the error signal that MCU error signal generators 20 are sent, triggering reset/
Enabled output generator 7, reset MCU and export enable signal and close pre- drive and motor relay.
In addition, also being exported by control, back production module 23 is enabled to predrive and motor relay enables and carries out back production, and
Output generator 7 and MCU are resetted/enable with system base chip enable the enable signal that output channel 13 and 14 sends carry out pair
Than increasing the diagnosis covering to the two enable signals, reducing System failure probability.
MCU can also be configured by SPI communication to system base chip and predrive chip, and obtain diagnosis letter
Breath.Fail safe measure：
The fail safe measure that the present invention uses is to close motor power-assisted, and the mode for closing power-assisted is to close predrive chip
Enabled and closing motor relay.Enabled reset/enabled the output generator 7 and MCU by system base chip of predrive chip
Enabled output channel 13 by with gate control.All it is when system base chip reset/enable signal and MCU enable output signal
During high level, enable effective；Any one signal is low level, enables and closes, and predrive chip is no longer exported to three-phase bridge and driven
Dynamic signal, motor power-assisted are closed.Motor relay is enabled enabled with predrive chip it is similar, by answering for system base chip
Position/enabled output generator 7 and MCU another way enable output channel 14 by with gate control.Use the enabled output of another way
The failure probability for enabling output pin failure due to MCU and causing system can not return to safe condition can be reduced.Motor relay
After enabled closing, the connection of motor and three-phase bridge will be cut off, and motor is run out of steam, and EPS power-assisteds are closed.
The present invention provides a kind of Electric Power Steering Control System based on functional safety, using a single-chip microcomputer double-core frame
Structure, the problem of isomery bi-processor architecture is complicated, cost is higher, size and power consumption are larger is can effectively solve the problem that, and contained
Multiplicated system monitoring mechanism, there is the advantages of diagnosis coverage rate is high, disclosure satisfy that very harsh functional safety requirement.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, it is noted that all
All any modification, equivalent and improvement made within the spirit and principles in the present invention etc., it should be included in the guarantor of the present invention
Within the scope of shield.
Claims (9)
- A kind of 1. Electric Power Steering Control System based on functional safety, it is characterised in that：Including power supply, double-core single-chip microcomputer, System base chip, predrive chip, power bridge, motor relay and the motor being connected with motor relay；Double-core single-chip microcomputer gathers hand-wheel torque and angular signal and obtains GES by CAN, passes through predrive core Piece controls power bridge to be opened and closed, and produces three-phase current, and motor produces assist torque.
- A kind of 2. Electric Power Steering Control System based on functional safety according to claim 1, it is characterised in that：Phase Current signal, motor rotor position signal back production to single-chip microcomputer, do current tracking control, to produce preferable assist torque.
- A kind of 3. Electric Power Steering Control System based on functional safety according to claim 1, it is characterised in that：Institute The system base chip stated is system base chip TPS65381, and described predrive chip is predrive chip DRV3201, institute The double-core single-chip microcomputer stated is MCU TMS570LS3137.
- A kind of 4. Electric Power Steering Control System based on functional safety according to claim 1, it is characterised in that：Electricity Source is battery, and battery is connected with the voltage changer inside system base chip, by voltage changer to system-based Chip, predrive chip and power bridge power supply.
- A kind of 5. Electric Power Steering Control System based on functional safety according to claim 1, it is characterised in that：System Base chip of uniting is powered to double-core single-chip microcomputer, external sensor and CAN transceiver；The built-in system monitoring machine of system base chip Molding block can be monitored to the voltage levels, clock, temperature of output, and over-pressed or under-voltage, clock is extremely, temperature is too high can Trigger reset/enabled output generator built in system base chip；Question and answer house dog built in system base chip by SPI with Double-core single-chip microcomputer carries out question and answer communication, when the failures such as the winged, deadlock of race, which occur, for double-core single-chip microcomputer " to feed dog ", system-based core Piece will trigger reset/enabled output generator；The reset of system base chip/enabled output generator will reset double-core single-chip microcomputer And export enable signal and close predrive chip and motor relay.
- A kind of 6. Electric Power Steering Control System based on functional safety according to claim 1, it is characterised in that：In advance Driving chip carries system monitoring mechanism module, clock, supply voltage, temperature can be monitored, over-pressed or under-voltage, clock Extremely, temperature is too high can trigger predrive error signal generator；Three-phase bridge drive module is under-voltage or over-pressed, gate drive signal Dead time is abnormal, the failures such as short circuit occur for drive axle bridge arm, can also trigger predrive error signal generator；Predrive mistake Error signal is issued pre- drive error signal monitoring modular by signal generator, will after double-core single-chip microcomputer receives this error signal Pre- drive and motor relay are closed by enabled output channel, ensure that system is in a safe condition.
- A kind of 7. Electric Power Steering Control System based on functional safety according to claim 1, it is characterised in that：It is double CPUa and CPUb in core single-chip microcomputer are turned by Lockstep technologies to hand-wheel torque signal, steering wheel angle signal, motor GES that subsignal, phase current signal, CAN transceiver pass over etc. carries out same treatment, and by contrast conting result Be transmitted to MCU error signal generators, at the same MCU error signal generators also the clock of reception system monitoring mechanism monitoring, voltage, Storage failure；MCU error signal detection modules in system base chip monitor the mistake that MCU error signal generators are sent After error signal, triggering reset/enabled output generator, reset MCU and export enable signal and close pre- drive and motor relay.
- A kind of 8. Electric Power Steering Control System based on functional safety according to claim 1, it is characterised in that：It is double Core single-chip microcomputer is by controlling output back production module is enabled to predrive and motor relay is enabled to carry out back production, and and system-based The enable signal that chip reset/enabled output generator and MCU enables output channel and sent is contrasted, and is increased to the two The diagnosis covering of enable signal, reduces System failure probability.
- A kind of 9. Electric Power Steering Control System based on functional safety according to claim 1, it is characterised in that：It is double Core single-chip microcomputer can be configured by SPI communication to system base chip and predrive chip, and obtain diagnostic message.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710913765.8A CN107745743B (en) | 2017-09-30 | 2017-09-30 | Electric power steering control system based on function safety |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710913765.8A CN107745743B (en) | 2017-09-30 | 2017-09-30 | Electric power steering control system based on function safety |
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| CN107745743A true CN107745743A (en) | 2018-03-02 |
| CN107745743B CN107745743B (en) | 2020-07-07 |
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| CN201710913765.8A Expired - Fee Related CN107745743B (en) | 2017-09-30 | 2017-09-30 | Electric power steering control system based on function safety |
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| CN108528523A (en) * | 2018-03-29 | 2018-09-14 | 株洲易力达机电有限公司 | A kind of two-way Electric Power Steering Control System and method |
| CN108649783A (en) * | 2018-05-18 | 2018-10-12 | 巨自动化装备（上海）有限公司 | Apply the electric supply system in motor control |
| CN109298658A (en) * | 2018-07-26 | 2019-02-01 | 联创汽车电子有限公司 | Double-core EPS controls program flow and its monitoring system and monitoring method |
| CN109484474A (en) * | 2018-09-19 | 2019-03-19 | 联创汽车电子有限公司 | EPS control module and its control system and control method |
| CN112648084A (en) * | 2020-12-11 | 2021-04-13 | 江苏大学 | Dual-fuel engine controller based on function safety |
| CN113173078A (en) * | 2021-04-19 | 2021-07-27 | 联合汽车电子有限公司 | Monitoring system, monitoring method and readable storage medium for realizing electronic parking function based on motor controller |
| CN114488897A (en) * | 2022-01-27 | 2022-05-13 | 中车青岛四方车辆研究所有限公司 | Functional security chip and working method thereof |
| CN115503485A (en) * | 2022-10-26 | 2022-12-23 | 重庆金康动力新能源有限公司 | Vehicle motor safety monitoring system and method |
| CN116736068A (en) * | 2023-08-14 | 2023-09-12 | 天津德科智控股份有限公司 | Power fault characteristic data identification and processing method |
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| CN112648084B (en) * | 2020-12-11 | 2023-02-17 | 江苏大学 | Dual-fuel engine controller based on function safety |
| CN113173078A (en) * | 2021-04-19 | 2021-07-27 | 联合汽车电子有限公司 | Monitoring system, monitoring method and readable storage medium for realizing electronic parking function based on motor controller |
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| CN115503485A (en) * | 2022-10-26 | 2022-12-23 | 重庆金康动力新能源有限公司 | Vehicle motor safety monitoring system and method |
| CN116736068A (en) * | 2023-08-14 | 2023-09-12 | 天津德科智控股份有限公司 | Power fault characteristic data identification and processing method |
| CN116736068B (en) * | 2023-08-14 | 2023-11-14 | 天津德科智控股份有限公司 | Power fault characteristic data identification and processing method |
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